Quadcopter Flight Dynamics

this articles describe in depth the most important dynamics concerning the quadcopter. Both during the programming phase and during the parts phase. The calculations concerning the dynamics are important for to calculated how much power is needed for our quadcopter, while during the programming phase it’s needed to calculate how much power is needed to hover, move and descend.

The most notable formulas in this article:

netp thrust on the body:

[math]\displaystyle{ net\ T = \rho A\sum_{4}^{i=1}[v_i]^2 }[/math]

velocity required for the quadcopter to climb:

[math]\displaystyle{ v^2=4g(h_f-h_o) }[/math]

total thrust that is generated by the rotors in order to keep the quadcopter airborne at a certain height:

[math]\displaystyle{ \left | \overrightarrow{T} \right |=\frac{\rho A4g(h_f-h_o)+mg}{cos(\theta )cos(\varphi )} }[/math]

voltage needed for a motor to rotate at a certain RPM equivalent to the linear velocity:

[math]\displaystyle{ volt_i=\frac{1}{motor constant}\frac{60v_i}{2\pi r} }[/math]